WO2022266807A1 - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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Publication number
WO2022266807A1
WO2022266807A1 PCT/CN2021/101294 CN2021101294W WO2022266807A1 WO 2022266807 A1 WO2022266807 A1 WO 2022266807A1 CN 2021101294 W CN2021101294 W CN 2021101294W WO 2022266807 A1 WO2022266807 A1 WO 2022266807A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
fuselage
arm
vehicle according
Prior art date
Application number
PCT/CN2021/101294
Other languages
French (fr)
Chinese (zh)
Inventor
肖翔
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/101294 priority Critical patent/WO2022266807A1/en
Priority to CN202180099737.1A priority patent/CN117561202A/en
Publication of WO2022266807A1 publication Critical patent/WO2022266807A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C3/00Wings
    • B64C3/38Adjustment of complete wings or parts thereof
    • B64C3/56Folding or collapsing to reduce overall dimensions of aircraft

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.
  • UAVs have been widely used in aerial photography, industry inspections, disaster relief operations and other fields in recent years, and continue to develop towards miniaturization and portability. This requires that the drone can be easily carried and stored when not in use.
  • the arms of the UAV can be folded, and the maximum size of the UAV can be reduced by folding to facilitate carrying and storage. Therefore, it is necessary to provide a folding scheme for the arm, which can make the shape of the UAV in the folded state as regular as possible without obvious protrusions, so as to fill the enveloping cube surrounded by the maximum size of the UAV to the greatest extent. volume inside.
  • Embodiments of the present application provide a drone.
  • An embodiment of the present application provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes a fuselage and a plurality of arms.
  • a plurality of arms are rotatably connected to the fuselage, so that the UAV can be in a folded state and an unfolded state, and the free ends of the arms are connected with power components, wherein, when the UAV is in the folded state In the process of switching between the unfolded state and the unfolded state, the arm rotates around an inclined shaft, and in the folded state, the arm is folded on the circumferential side of the fuselage, and a plurality of the power components are basically attached.
  • the arms when the unmanned aerial vehicle is in the folded state, the arms can be folded on the circumferential side of the fuselage, and a plurality of power components are basically attached, so that the unmanned aerial vehicle is in the folded state, without The arm and power components of the man-machine fill the volume of the envelope cube surrounded by the maximum size of the drone to the maximum extent, which improves the convenience of the drone.
  • FIG. 1 is a schematic structural view of an unmanned aerial vehicle in an unfolded state according to an embodiment of the present application
  • Fig. 2 is a schematic structural view of the tripod of the drone in the embodiment of the present application in a folded state
  • FIG. 3 is a schematic structural view of the UAV in a folded state according to the embodiment of the present application.
  • Fig. 4 is the perspective view of the unmanned aerial vehicle of the embodiment of the present application.
  • Fig. 5 is a schematic diagram of the folding process scene of the drone according to the embodiment of the present application.
  • 6 to 8 are perspective views of the drone according to the embodiment of the present application.
  • FIG. 9 is a schematic structural view of the unmanned aerial vehicle in the deployed state according to the embodiment of the present application.
  • FIG. 10 is a schematic structural view of the UAV in a folded state according to the embodiment of the present application.
  • FIG. 11 and FIG. 12 are schematic structural views of the pan-tilt camera of the drone according to the embodiment of the present application.
  • Fig. 13 is a schematic structural diagram of the battery of the drone in the embodiment of the present application in a pulled-out state.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.
  • a first feature being “on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
  • “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
  • "Below”, “under” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the UAV 100 includes a body 10 and a plurality of arms 20 .
  • a plurality of machine arms 20 are rotatably connected to the fuselage 10, so that the unmanned aerial vehicle 100 can be in a folded state and an unfolded state, and the free ends of the machine arms 20 are connected with a power assembly 21.
  • the arm 20 rotates around a tilting shaft 13 , and in the folded state, the arm 20 is closed to the circumferential side 11 of the fuselage 10 , and the plurality of power components 21 are basically attached.
  • the machine arm 20 when the UAV 100 is in a folded state, the machine arm 20 can be folded on the circumferential side 11 of the fuselage 10, and a plurality of power components 21 are basically attached, so that the UAV 100 is in a folded state.
  • the arm 20 and the power assembly 21 of the UAV 100 fill up the volume of the enveloping cube surrounded by the maximum size of the UAV 100 to the greatest extent, which improves the convenience of the UAV 100 .
  • the UAV 100 in the embodiment of the present application may be used to perform tasks including but not limited to patrolling, exploration, photography, photographing, and agriculture.
  • the drone 100 includes a fuselage 10 , a plurality of arms 20 , a pan-tilt camera 30 , an obstacle avoidance component 40 , and a battery 50 .
  • a plurality of arms 20 are rotatably connected to the fuselage 10 .
  • the pan-tilt camera 30 is connected to the bottom 103 of the fuselage 10 .
  • the obstacle avoidance components 40 are distributed on the drone 100 , and the obstacle avoidance components 40 can realize effective obstacle perception and obstacle avoidance, ensuring the safety of the drone 100 during work.
  • the battery 50 is at least partially accommodated in the fuselage 10 , and the battery 50 can provide electric energy for the drone 100 . In one embodiment, most of the battery is accommodated in the body, and the top of the battery can be exposed from the body, so as to facilitate maintenance and other operations on the battery.
  • the circumferential side 11 includes a first side 101 and a second side 102 opposite to each other.
  • the circumferential side 11 of the fuselage 10 is provided with a mounting portion 111 , and each of the first side 101 and the second side 102 is provided with a mounting portion.
  • the fuselage 10 also includes a bottom 103 and a top surface 104 .
  • the bottom 103 of the fuselage 10 defines an accommodating slot 1031 , and the bottom 103 of the fuselage 10 is also connected with a tripod 12 .
  • the top surface 104 of the fuselage 10 defines a receiving groove 1041 .
  • the tripod 12 is connected to the bottom 103 of the fuselage 10 , and the tripod 12 is foldable. When the UAV 100 is in a folded state, the tripod 12 is folded on the circumferential side 11 of the fuselage 10 . At least a portion of the arm 20 covers at least a portion of the stand 12.
  • the stand 12 includes an unfolded state and a folded state. Please refer to FIG. 1 , which is a schematic diagram of the stand 12 in an unfolded state. Please refer to FIG. 2 , which is a schematic diagram of the stand 12 being folded.
  • the tripod 12 can support the UAV 100 when it is unfolded, and can make the UAV 100 rise on the ground or the platform smoothly; it can also make the UAV 100 land on the ground or the platform smoothly.
  • the fuselage 10 is provided with a gripping portion, through which the user can use the drone 100 by hand. That is to say, the user can disassemble the tripod 12 and hold the handle to raise and lower.
  • the stand 12 includes four supports, all of which can be manually expanded and folded, or electrically expanded and folded, which is not specifically limited here. When the tripod 12 is in the folded state, the four tripod supports are all gathered in the circumferential side 11 of the fuselage 10, the tripod support can be close to the circumferential side 11, and at least a part of the arm 20 covers at least part of the tripod 12.
  • the shape of the UAV 100 in the folded state is as regular as possible without obvious protrusions. It can be understood that, in other embodiments, the stand may also be non-foldable, that is, the stand is fixed to maintain an unfolded state.
  • the arm 20 includes a first section 201 and a second section 202 connected.
  • the free end of the arm 20 is connected with a power assembly 21 , that is to say, in the embodiment shown in FIG. 1 , the end of the second section 202 is connected with a power assembly 21 , and the power assembly 21 includes a motor 211 and a propeller 212 .
  • the plurality of arms 20 includes a first arm set 22 and a second arm set 24 .
  • FIG. 1 is a schematic diagram of the structure of the drone 100 in an unfolded state
  • FIG. 3 is a schematic diagram of the structure of the drone 100 in a folded state.
  • each arm 20 rotates around a tilting axis 13 .
  • the UAV 100 includes a tilting shaft 13, which is connected to the fuselage 10 and the arm 20.
  • the tilting shaft 13 is obliquely arranged in the fuselage 10.
  • the tilting shaft 13 can be understood as that the axis of rotation is not perpendicular to the rotation axis.
  • the axis of rotation of the plane is a tilting shaft 13, which is connected to the fuselage 10 and the arm 20.
  • the tilting shaft 13 is obliquely arranged in the fuselage 10.
  • the tilting shaft 13 can be understood as that the axis of rotation is not perpendicular to the rotation axis.
  • the axis of rotation of the plane is a tilting shaft 13 which is connected to the fuselage 10 and the arm 20.
  • the tilting shaft 13 includes a rotation axis L. It can be seen from FIG.
  • the formed rotation plane is not perpendicular to the tilting axis of rotation 13 .
  • FIG. 5 is a schematic diagram of a scene where one arm 21 of the UAV 100 is switched from an unfolded state to a folded state.
  • the downward folding rotation and twisting rotation of the machine arm 20 can be realized by one rotation, so that the machine arm 21 can be well folded on the circumferential side 11 of the fuselage 10 .
  • the fuselage 10 includes a first plane C1 , a second plane C2 and a third plane C3 that are orthogonal to each other.
  • the first surface C1 can be understood as the front of the fuselage 10
  • the second surface C2 can be understood as the top surface of the fuselage 10
  • the third surface C3 can be understood as the right side of the fuselage 10 .
  • the size of the first included angle ⁇ , the size of the second included angle ⁇ and the size of the third included angle ⁇ can also be selected within a certain range, so that the propeller 212 of the UAV 100 and the horizontal plane meet the design requirements. angle.
  • the first surface C1 is the front side of the fuselage
  • the second surface C2 is the top surface of the fuselage 10
  • the third surface C3 is the right side of the fuselage. It can be understood that the first surface C1 , the second surface C2 and the third surface C3 can be specifically set according to the configuration of the fuselage, and are not limited to the above-mentioned front side, top surface and right side.
  • the arms 20 of the same arm group are arranged side by side on the side, so that the shape of the drone 100 in the folded state is as regular as possible without obvious protrusions.
  • the arm 20 includes a first section 201 and a second section 202 connected, the first section 201 is rotatably connected to the fuselage 10 , and the second section 202 is inclined upward at a preset acute angle relative to the first section 201 . That is to say, the connection between the first section 201 and the second section 202 is not connected at 180 degrees, and the connection between the first section 201 and the second section 202 is at a certain angle, so that in the folded state, the arm
  • the turning structure formed by the first section 201 and the second section 202 of 20 can make the motor 211 not protrude from the outline of the fuselage 10, making the folded UAV 100 more regular and compact, and enhancing the portability of the UAV 100.
  • the second section 202 is inclined upward by a predetermined acute angle, which may vary according to different structures of the fuselage 10 or other structures, which is not limited here.
  • the plurality of arms 20 includes a first arm set 22 and a second arm set 24 .
  • the circumferential side 11 includes opposite first side 101 and second side 102 , the first side 101 defines a first recess 1010 , and the second side 102 defines a second recess 1020 .
  • the arms 20 of the first arm set 22 are at least partially located in the first recess 1010 .
  • the arms 20 of the second arm set 24 are at least partially located in the second recess 1020 .
  • the arm 20 can fill the volume of the enveloping cube enclosed by the maximum size of the UAV 100 to the greatest extent, which improves the convenience of the UAV 100 .
  • the power assembly 21 is connected to the free end of the machine arm 20 .
  • the free end refers to the end of the arm away from the fuselage 10 .
  • the arm 20 is closed to the circumferential side 11 of the fuselage 10 , and the plurality of power components 21 are basically attached. In this way, the arm 20 and the power assembly 21 of the UAV 100 fill up the volume of the enveloping cube surrounded by the maximum size of the UAV 100 to the maximum, which improves the convenience of the UAV 100 .
  • the so-called basic fit refers to gathering together, and is not limited to the fit of each part.
  • the propeller 212 of the power assembly 21 may not be attached, but the motor 211 may be attached.
  • Substantial fit may also refer to touching together, or may refer to being separated by a distance, the distance being within a desired range.
  • the power assembly 21 includes a first power assembly 21a and a second power assembly 21b.
  • a plurality of machine arms 20 includes a first machine arm group 22 and a second machine arm group 24, the circumferential side 11 includes a first side 101 and a second side 102 opposite to each other, and the first machine arm group 22 is rotatably connected to the first side 101, the second arm set 24 is rotatably connected to the second side 102, the first power assembly 21a of the first arm set 22 is basically attached, and the second power assembly 21b of the second arm set 24 is basically attached.
  • the first power assembly 21a is arranged on the first arm group 22
  • the second power assembly 21b is arranged on the second arm group 24 .
  • the arm 20 and the power assembly 21 of the UAV 100 fill the volume in the envelope cube surrounded by the maximum size of the UAV 100 to the greatest extent, which improves the unmanned Machine 100 Convenience.
  • the power assembly 21 includes a motor 211.
  • the two motors 211 of the same machine arm group are basically attached. That is to say, the power assembly 21 includes a first power assembly 21a and a second power assembly 21b.
  • the first power assembly 21a includes two motors 211, namely a first motor 211a and a second motor 211b
  • the second power assembly 21b includes two motors 211, namely a third motor 211c and a fourth motor 211d.
  • four arms 20 are rotatably connected to the fuselage 10 .
  • the four arms 20 include a first arm group 22 and a second arm group 24 .
  • the first arm set 22 may include a first arm 20a and a second arm 20b.
  • the second arm set 24 may include a third arm 20c and a fourth arm 20d.
  • the free end of the first machine arm 20a is connected to the first motor 211a
  • the free end of the second machine arm 20b is connected to the second motor 211b
  • the free end of the third machine arm 20c is connected to the third motor 211c
  • the free end of the fourth machine arm 20d The fourth motor 211d is connected.
  • the first motor 211a and the second motor 211b are basically attached on the first side 101, specifically, the bottom of the first motor 211a is basically attached to the bottom of the second motor 211b; the third motor 211c and the second The four motors 211d are basically attached on the second side 102, specifically, the bottom of the third motor 211c is basically attached to the bottom of the fourth motor 211d.
  • the motors 211 of the plurality of power assemblies 21 are located at the bottom 103 of the fuselage 10 .
  • the shape of the UAV 100 can be as regular as possible in the folded state, and the arm 20 and the power assembly 21 of the UAV 100 can fill the volume in the enveloping cube surrounded by the maximum size of the UAV 100 to the greatest extent.
  • the convenience of the UAV 100 is guaranteed.
  • the propeller 212 is connected to the motor 211 , and the propeller 212 includes folding paddles.
  • the drone includes four arms 20, namely: a first arm 20a, a second arm 20b, a third arm 20c and a fourth arm 20d.
  • the power assembly 21 includes propellers 212, four propellers 212 are respectively arranged on the first machine arm 20a, the second machine arm 20b, the third machine arm 20c and the fourth machine arm 20d, and the four propellers 212 are respectively connected with the first motor 211a , the second motor 211b, the third motor 211c and the fourth motor 211d are connected.
  • the first motor 211a, the second motor 211b, the third motor 211c and the fourth motor 211d can drive the four propellers 212 to rotate, thereby controlling the rotation direction and the rotation speed of the propellers 212 .
  • the propeller 212 includes an upper surface 2121 and a lower surface 2122 , and when the UAV 100 is in a folded state, the upper surface 2121 of the propeller 212 faces away from the fuselage 10 .
  • the paddle plane of the propeller 212 is substantially horizontal, and when the UAV 100 is in the folded state, the paddle plane of the propeller 212 is parallel to the circumferential side 11 of the fuselage 10 .
  • the unmanned aerial vehicle 100 can ensure stable flight performance in the unfolded state, and the appearance is as regular as possible in the folded state, without obvious protrusions, so as to fill the package surrounded by the maximum size of the unmanned aerial vehicle 100 to the greatest extent.
  • the paddle plane of the propeller 212 is parallel to the front side or the rear side of the fuselage 10 .
  • the pan-tilt camera 30 is connected to the bottom of the fuselage 10 .
  • the orthographic projections of the pan-tilt camera 30 and the machine arm 20 on a plane are staggered, and the plane is perpendicular to the length direction of the fuselage 10, so that physical interference between the machine arm 20 and the pan-tilt camera 30 can be avoided.
  • the bottom 103 of the fuselage 10 is provided with an accommodating groove 1031, and the gimbal camera 30 is at least partially located in the accommodating groove 1031, which can further reduce the space occupation of the UAV 100.
  • a part of the pan-tilt camera 30 is accommodated in the accommodating groove 1031 , and a part protrudes out of the accommodating groove 1031 .
  • the pan-tilt camera 30 When the UAV 100 is in a folded state, the pan-tilt camera 30 is located in the space surrounded by a plurality of arms 20 . In this way, the pan-tilt camera 30 is set in the space surrounded by a plurality of machine arms 20, and the volume in the envelope cube surrounded by the maximum size of the UAV 100 is filled to the greatest extent, and the convenience of the UAV 100 is improved.
  • a plurality of arms 20 can protect the pan-tilt camera 30, and try to prevent the pan-tilt camera 30 from being scratched, scratched, or damaged due to bumps when the drone 100 is carried after being folded.
  • the bottom 103 of the fuselage may not have the accommodating groove 1031 , and the pan-tilt camera 30 may be integrally protruded from the bottom 103 of the fuselage.
  • the pan-tilt camera 30 includes a pan-tilt 31 and a camera 32 .
  • the cloud platform 31 includes a first shaft assembly 311, a second shaft assembly 312 and a third shaft assembly 313, the first shaft assembly 311 is connected to the fuselage 10, the second shaft assembly 312 is connected to the first shaft assembly 311 and the third shaft assembly 313,
  • the camera 32 is mounted on the third axis assembly 313, so that the gimbal 31 has three degrees of freedom of the axis, plus the three axes of freedom of the UAV 100 itself, the camera 32 can realize a maximum of six degrees of freedom of the axis.
  • the first axis assembly 311 is the pitch axis assembly 311 of the gimbal 31 (ie, the Pitch axis assembly), and the second axis assembly 312 is the yaw axis assembly 312 of the gimbal 31 (ie, the Yaw axis assembly).
  • the third axis assembly 313 is the roll axis assembly 313 of the gimbal 31 (that is, the Roll axis assembly). That is to say, the pitch axis assembly 311 is connected to the fuselage 10 , the yaw axis assembly 312 is connected to the pitch axis assembly 311 and the roll axis assembly 313 , and the camera 32 is installed on the roll axis assembly 313 .
  • the pitch axis assembly 311 includes a pitch axis motor, which can control the pitch motion of the camera 32 .
  • the yaw axis assembly 312 includes a yaw axis motor that can control the yaw motion of the camera 32 .
  • the roll axis assembly 313 includes a roll axis motor, which can control the roll motion of the camera 32 . In this way, flexible viewing of the UAV 100 can be realized.
  • the pan/tilt camera 30 can obtain a large control range of pitch motion through the configuration of the first axis assembly-Pitch axis assembly, the second axis assembly-Yaw axis assembly and the third axis assembly-Roll axis assembly, which is beneficial to the unmanned aerial vehicle 100 for overhead shooting, reverse shooting, and even overhead shooting. It can also obtain a large rolling motion control range, which is beneficial to shooting rotation and turnover images, and enhances the flexibility of film and television creation. At the same time, a larger rolling motion control range means that the image of the camera 32 can be directly rotated by 90 degrees Switching between horizontal and vertical shooting is beneficial for shooting vertical screen videos.
  • the yaw control range of the UAV 100 is controllable in any yaw direction of 360°, and the UAV 100 can complement the yaw control range of the gimbal camera 30 . That is to say, the unmanned aerial vehicle 100 can realize large-scale, preliminary yaw control, and the pan-tilt camera 30 can realize small-scale, fine yaw control, so that the unmanned aerial vehicle 100 can achieve the yaw control with the pan-tilt camera 30
  • the scope of navigation control is complementary.
  • the motor axis of the pitch axis assembly 311 is the first axis K1
  • the motor axis of the yaw axis assembly 312 is the second axis K2
  • the motor axis of the roll axis assembly 313 is the third axis K3 .
  • the first axis K1, the second axis K2 and the third axis K3 may not be orthogonal, that is, not perpendicular to each other.
  • the included angles among the three axes are all non-90-degree included angles, the configuration of the non-orthogonal pan/tilt camera 30 is formed.
  • the motor when a certain pan/tilt motor rotates, causing the camera 32 to take pictures in the rolling direction, the motor is called an orthogonal roll axis motor; when a certain pan/tilt motor rotates In the case of movement, the camera 32 causes movement in multiple directions such as the rolling direction and the pitching direction of the picture taken by the camera 32, and the motor is called a non-orthogonal rolling axis and pitching axis motor.
  • the movement of other axes can also be deduced by analogy.
  • the obstacle avoidance assembly 40 includes a plurality of visual sensors 41, and a plurality of visual sensors 41 are distributed in a polyhedron in space, and each plane of the polyhedron is distributed with at least one visual sensor 41, and two visual sensors 41 on different planes A binocular obstacle avoidance system is formed, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the overlapping area of the observation ranges of the two visual sensors 41 .
  • the effective perception and avoidance of obstacles can be realized to ensure the safety of the drone during work.
  • the multiple visual sensors 41 are distributed in a polyhedron in space, and the polyhedron includes but not limited to tetrahedron, pentahedron, hexahedron, etc., which are not specifically limited here.
  • Each plane of the polyhedron is distributed with at least one visual sensor 41, and two visual sensors 41 on different planes form a binocular obstacle avoidance system, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the range of observation of the two visual sensors 41. overlap area.
  • a plurality of visual sensors 41 can realize effective obstacle perception and obstacle avoidance if one of the following conditions is met: all visual sensors 41 are arranged on the fuselage 10, or some of the visual sensors 41 are arranged on the fuselage 10, and the rest of the visual sensors 41 are arranged on the machine arm 20, or all visual sensors 41 are arranged on the machine arm 20.
  • the obstacle avoidance assembly 40 includes four visual sensors 41, and the four visual sensors 41 can be arranged on the fuselage 10. The four visual sensors 41 are combined in pairs to form six binocular obstacle avoidance systems.
  • the collection of the obstacle avoidance observation areas of the binocular obstacle avoidance system covers the entire space sphere, so that obstacles in the obstacle avoidance observation area of the binocular obstacle avoidance system can be observed to realize effective obstacle perception and obstacle avoidance, and ensure the work of the UAV. safety in the process.
  • the four visual sensors 41 include a front upper visual sensor 41 , a rear upper visual sensor 41 , a lower left visual sensor 41 and a lower right visual sensor 41 .
  • the front upper visual sensor 41 and the rear upper visual sensor 41 are located at the same height of the fuselage 10
  • the left lower visual sensor 41 and the right lower visual sensor 41 are located at the same height of the fuselage 10 .
  • the four visual sensors 41 can also be arranged in other ways, for example, the four visual sensors 41 include an upper left visual sensor 41, an upper right visual sensor 41, a front lower visual sensor 41 and a rear lower visual sensor 41, etc. .
  • the four visual sensors 41 may all be located at the same height, or may be located at four different heights. It is not limited here.
  • the vision sensors 41 When part of the visual sensors 41 are arranged on the fuselage 10, and the rest of the visual sensors 41 are arranged on the machine arm 20, still taking four visual sensors 41 as an example, three visual sensors 41 can be arranged on the circumferential side 11 or the bottom of the fuselage 103, another visual sensor can be set on the top of the fuselage (that is, the top surface 104).
  • the vision sensors 41 on the circumferential sides 11 can be arranged at different heights of the fuselage 10, or at the same height.
  • the UAV 100 includes four machine arms, and each visual sensor 41 can be arranged on the free end of a corresponding machine arm 20. . It is advisable that the motor 211 and the propeller 212 do not enter the field of view (FOV) of the visual sensor 41 .
  • FOV field of view
  • the FOV of the visual sensor 41 in the above-mentioned embodiment can be selected according to the configuration of the drone 100 and the arrangement of the visual sensor 41, so that the binocular obstacle avoidance system formed by the visual sensor 41 can completely cover or basically cover the drone 100.
  • the FOV may be greater than 180 degrees, such as 190 degrees, 220 degrees, etc.
  • the plurality of visual sensors 41 may be two, three, or more than four, and so on.
  • the visual sensor 41 can be arranged on the installation part 111 , and the installation part 111 is arranged on the circumferential side 11 of the fuselage 10 , and when the UAV 100 is in a folded state, the installation part 111 abuts against the arm 20 .
  • the installation part 111 facilitates the installation of the visual sensor 41
  • the installation part 111 can limit the arms 20 to prevent the arms 20 from colliding and being damaged when they rotate, and can also protect the tilting shaft 31 at the same time.
  • the battery 50 can provide electric energy for the drone 100 .
  • the top surface 104 of the fuselage 10 defines a receiving slot 1041 , and the battery 50 is at least partially received in the receiving slot 1041 .
  • the battery 50 is detachably accommodated in the receiving slot 1041 , and the detachment or installation direction of the battery 50 is along the length direction of the fuselage 10 .
  • the center of gravity of the battery 50 coincides with the center of lift of the drone 100 in the vertical direction.
  • the receiving slot 1041 includes a battery compartment, and the receiving slot 1041 is used for receiving the battery 50 .
  • the receiving slot 1041 and the battery 50 can be fixed by engaging, which is not limited herein.
  • the size of the receiving groove 1041 is related to the size of the battery 50 .
  • the center of gravity of the battery 50 coincides with the center of lift of the drone 100 in the vertical direction.
  • the center of lift may be the center of the resultant of the lift of the four propellers 212 .
  • the battery 50 includes an extended battery, which can enhance the endurance of the drone 100 .
  • the center of gravity of the extended battery coincides with the center of lift of the UAV 100 in the vertical direction, and the lengthening and weighting of the battery will not cause the center of gravity of the UAV to shift horizontally (the horizontal direction is perpendicular to the vertical direction).
  • the center of gravity of the UAV coincides with the center of lift of the UAV 100 in the vertical direction, which can make the output of the four propellers 212 of the UAV 100 average, which can improve the efficiency of the propellers 212 and is beneficial to battery life.
  • the UAV 100 includes a fuselage 10 and a plurality of arms 20 .
  • a plurality of machine arms 20 are rotatably connected to the fuselage 10, so that the unmanned aerial vehicle 100 can be in a folded state and an unfolded state, and the free ends of the machine arms 20 are connected with a power assembly 21.
  • the machine arm 20 performs compound rotation around a rotating shaft, and the compound rotating includes rotating around a tilted rotating shaft direction. 21 basic fit.
  • the arm 20 and the power assembly 21 of the UAV 100 fill the volume in the envelope cube surrounded by the maximum size of the UAV 100 to the maximum, which improves the UAV. 100's in convenience.

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Abstract

An unmanned aerial vehicle (100), comprising a fuselage (10) and a plurality of arms (20). The plurality of arms (20) are rotatably connected to the fuselage (10) to allow the unmanned aerial vehicle (100) to be in a folded state or an unfolded state; a free end of each arm (20) is connected to a power assembly (21); during the switching process of the unmanned aerial vehicle (100) between the folded state and the unfolded state, each arm (20) rotates around an inclined axis (31); and in the folded state, the arms (20) are retracted on the circumferential side surfaces (11) of the fuselage (10), and the plurality of power assemblies (21) are basically fitted.

Description

无人机drone 技术领域technical field
本申请涉及无人机技术领域,特别涉及一种无人机。The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.
背景技术Background technique
无人机是近年来被广泛应用于航空摄影、行业巡检、救灾作业等领域,并且持续朝着小型化、便携化发展。这就要求无人机可以通过在不使用时,能够便于携带和收纳。通常地,为了满足这一要求,无人机的机臂可以进行折叠,将无人机的最大尺寸通过折叠的方式缩小,以便于携带和收纳。因此,有必要提供一种机臂的折叠方案,可以使无人机在折叠状态下外形尽量规整,没有明显的突出物,以最大限度地填满无人机的最大尺寸围成的包络立方体内的体积。UAVs have been widely used in aerial photography, industry inspections, disaster relief operations and other fields in recent years, and continue to develop towards miniaturization and portability. This requires that the drone can be easily carried and stored when not in use. Usually, in order to meet this requirement, the arms of the UAV can be folded, and the maximum size of the UAV can be reduced by folding to facilitate carrying and storage. Therefore, it is necessary to provide a folding scheme for the arm, which can make the shape of the UAV in the folded state as regular as possible without obvious protrusions, so as to fill the enveloping cube surrounded by the maximum size of the UAV to the greatest extent. volume inside.
发明内容Contents of the invention
本申请的实施方式提供了一种无人机。Embodiments of the present application provide a drone.
本申请实施方式提供一种无人机,所述无人机包括机身和多个机臂。多个机臂转动地连接所述机身,以使得所述无人机能够处于折叠状态和展开状态,所述机臂的自由端连接有动力组件,其中,在所述无人机在折叠状态和展开状态之间切换过程中,所述机臂绕一倾斜转轴转动,在折叠状态时,所述机臂收拢于所述机身的周向侧面,且多个所述动力组件基本贴合。An embodiment of the present application provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes a fuselage and a plurality of arms. A plurality of arms are rotatably connected to the fuselage, so that the UAV can be in a folded state and an unfolded state, and the free ends of the arms are connected with power components, wherein, when the UAV is in the folded state In the process of switching between the unfolded state and the unfolded state, the arm rotates around an inclined shaft, and in the folded state, the arm is folded on the circumferential side of the fuselage, and a plurality of the power components are basically attached.
本申请实施方式的无人机中,在无人机处于折叠状态时,机臂可收拢于机身的周向侧面,且多个动力组件基本贴合,使得无人机在折叠状态下,无人机的机臂及动力组件最大限度地填满无人机的最大尺寸围成的包络立方体内的体积,提升了无人机的便捷性。In the unmanned aerial vehicle of the embodiment of the present application, when the unmanned aerial vehicle is in the folded state, the arms can be folded on the circumferential side of the fuselage, and a plurality of power components are basically attached, so that the unmanned aerial vehicle is in the folded state, without The arm and power components of the man-machine fill the volume of the envelope cube surrounded by the maximum size of the drone to the maximum extent, which improves the convenience of the drone.
本申请的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本申请的实践了解到。Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
附图说明Description of drawings
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:The above and/or additional aspects and advantages of the present application will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:
图1是本申请实施方式的无人机处于展开状态的结构示意图;FIG. 1 is a schematic structural view of an unmanned aerial vehicle in an unfolded state according to an embodiment of the present application;
图2是本申请实施方式的无人机的脚架处于折叠状态的结构示意图;Fig. 2 is a schematic structural view of the tripod of the drone in the embodiment of the present application in a folded state;
图3是本申请实施方式的无人机处于折叠状态的结构示意图;FIG. 3 is a schematic structural view of the UAV in a folded state according to the embodiment of the present application;
图4是本申请实施方式的无人机的透视图;Fig. 4 is the perspective view of the unmanned aerial vehicle of the embodiment of the present application;
图5是本申请实施方式的无人机的折叠过程场景示意图;Fig. 5 is a schematic diagram of the folding process scene of the drone according to the embodiment of the present application;
图6至图8是本申请实施方式的无人机的透视图;6 to 8 are perspective views of the drone according to the embodiment of the present application;
图9是本申请实施方式的无人机处于展开状态的结构示意图;FIG. 9 is a schematic structural view of the unmanned aerial vehicle in the deployed state according to the embodiment of the present application;
图10是本申请实施方式的无人机处于折叠状态的结构示意图;FIG. 10 is a schematic structural view of the UAV in a folded state according to the embodiment of the present application;
图11和图12是本申请实施方式的无人机的云台相机的结构示意图;FIG. 11 and FIG. 12 are schematic structural views of the pan-tilt camera of the drone according to the embodiment of the present application;
图13是本申请实施方式的无人机的电池处于抽起状态的结构示意图。Fig. 13 is a schematic structural diagram of the battery of the drone in the embodiment of the present application in a pulled-out state.
具体实施方式detailed description
下面详细描述本申请的实施方式,所述实施方式的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本申请,而不能理解为对本申请的限制。Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.
在本申请的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.
在本申请的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接。可以是机械连接,也可以是电连接。可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开,下文中对特定例子的部件和设置进行描述。当然,它们仅仅为示例,并且目的不在于限制本申请。The following disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of the present application, components and arrangements of specific examples are described below. Of course, they are examples only and are not intended to limit the application.
在本申请中,除非另有明确的规定和限定,第一特征在第二特征之“上”或之“下” 可以包括第一和第二特征直接接触,也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且,第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方,或仅仅表示第一特征水平高度小于第二特征。In this application, unless otherwise expressly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "under" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
本申请可以在不同例子中重复参考数字和/或参考字母,这种重复是为了简化和清楚的目的,其本身不指示所讨论各种实施方式和/或设置之间的关系。此外,本申请提供了的各种特定的工艺和材料的例子,但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The present application may repeat reference numerals and/or reference letters in various instances, such repetition is for the purposes of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, various specific process and material examples are provided herein, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.
请参阅图1及图4,无人机100包括机身10和多个机臂20。多个机臂20转动地连接机身10,以使得无人机100能够处于折叠状态和展开状态,机臂20的自由端连接有动力组件21,其中,在无人机100在折叠状态和展开状态之间切换过程中,机臂20绕一倾斜转轴13转动,在折叠状态时,机臂20收拢于机身10的周向侧面11,且多个动力组件21基本贴合。Referring to FIG. 1 and FIG. 4 , the UAV 100 includes a body 10 and a plurality of arms 20 . A plurality of machine arms 20 are rotatably connected to the fuselage 10, so that the unmanned aerial vehicle 100 can be in a folded state and an unfolded state, and the free ends of the machine arms 20 are connected with a power assembly 21. In the process of switching between states, the arm 20 rotates around a tilting shaft 13 , and in the folded state, the arm 20 is closed to the circumferential side 11 of the fuselage 10 , and the plurality of power components 21 are basically attached.
本申请实施方式的无人机100在无人机100处于折叠状态时,机臂20可收拢于机身10的周向侧面11,且多个动力组件21基本贴合,使得无人机100在折叠状态下,无人机100的机臂20及动力组件21最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性。In the UAV 100 according to the embodiment of the present application, when the UAV 100 is in a folded state, the machine arm 20 can be folded on the circumferential side 11 of the fuselage 10, and a plurality of power components 21 are basically attached, so that the UAV 100 is in a folded state. In the folded state, the arm 20 and the power assembly 21 of the UAV 100 fill up the volume of the enveloping cube surrounded by the maximum size of the UAV 100 to the greatest extent, which improves the convenience of the UAV 100 .
本申请实施方式的无人机100可以用于包括但不限于执行巡逻、勘探、摄影、拍照、农业等任务。The UAV 100 in the embodiment of the present application may be used to perform tasks including but not limited to patrolling, exploration, photography, photographing, and agriculture.
请一并参阅图1和图2,本申请实施方式的无人机100包括机身10、多个机臂20、云台相机30、避障组件40、电池50。多个机臂20转动地连接机身10。云台相机30连接机身10的底部103。避障组件40分布在无人机100上,通过避障组件40能够实现有效感知障碍物和避障,保证无人机100工作过程中的安全。电池50至少部分地收容在机身10内,电池50可以为无人机100提供电能。在一个实施方式中,电池的大部分收容在机身内,电池的顶部可露出机身,以方便对电池进行维护等作业。Please refer to FIG. 1 and FIG. 2 together. The drone 100 according to the embodiment of the present application includes a fuselage 10 , a plurality of arms 20 , a pan-tilt camera 30 , an obstacle avoidance component 40 , and a battery 50 . A plurality of arms 20 are rotatably connected to the fuselage 10 . The pan-tilt camera 30 is connected to the bottom 103 of the fuselage 10 . The obstacle avoidance components 40 are distributed on the drone 100 , and the obstacle avoidance components 40 can realize effective obstacle perception and obstacle avoidance, ensuring the safety of the drone 100 during work. The battery 50 is at least partially accommodated in the fuselage 10 , and the battery 50 can provide electric energy for the drone 100 . In one embodiment, most of the battery is accommodated in the body, and the top of the battery can be exposed from the body, so as to facilitate maintenance and other operations on the battery.
在一个实施方式中,周向侧面11包括相背的第一侧面101和第二侧面102。机身10的周向侧面11设有安装部111,第一侧面101和第二侧面102均设有一个安装部。机身10还包括底部103和顶面104。机身10的底部103开设有容置槽1031,机身10的底部103还连接有脚架12。机身10的顶面104开设有收容槽1041。In one embodiment, the circumferential side 11 includes a first side 101 and a second side 102 opposite to each other. The circumferential side 11 of the fuselage 10 is provided with a mounting portion 111 , and each of the first side 101 and the second side 102 is provided with a mounting portion. The fuselage 10 also includes a bottom 103 and a top surface 104 . The bottom 103 of the fuselage 10 defines an accommodating slot 1031 , and the bottom 103 of the fuselage 10 is also connected with a tripod 12 . The top surface 104 of the fuselage 10 defines a receiving groove 1041 .
脚架12连接在机身10底部103,脚架12是能够折叠的,在无人机100处于折叠状态时,脚架12收拢于机身10的周向侧面11。机臂20的至少一部分覆盖脚架12的 至少一部分。脚架12包括展开状态和折叠状态。请参阅图1,图1为脚架12处于展开状态的示意图。请参阅图2,图2为脚架12处于折叠的示意图。脚架12在展开状态时能够支撑无人机100,可以使无人机100平稳地在地面上、平台上升起;也可以使得无人机100平稳地降落在地面上、平台上。在某些实施方式中,机身10设有持握部,用户可以通过持握部可以手持使用无人机100。也即是说,用户可以拆卸掉脚架12,手持持握部进行升起和降落。脚架12包括四个支撑件,四个支撑件均可以手动展开和折叠,也可以电动展开和折叠,在此不作具体限定。脚架12处于折叠状态时,四个脚架支撑件均收拢于机身10的周向侧面11,脚架支撑件可以贴紧周向侧面11,机臂20的至少一部分覆盖脚架12的至少一部分,使得无人机100在折叠后的折叠状态下,外形尽量规整,没有明显的突出。可以理解,在其它实施方式中,脚架也可以是不可折叠的,也就是说,脚架固定来保持展开状态。The tripod 12 is connected to the bottom 103 of the fuselage 10 , and the tripod 12 is foldable. When the UAV 100 is in a folded state, the tripod 12 is folded on the circumferential side 11 of the fuselage 10 . At least a portion of the arm 20 covers at least a portion of the stand 12. The stand 12 includes an unfolded state and a folded state. Please refer to FIG. 1 , which is a schematic diagram of the stand 12 in an unfolded state. Please refer to FIG. 2 , which is a schematic diagram of the stand 12 being folded. The tripod 12 can support the UAV 100 when it is unfolded, and can make the UAV 100 rise on the ground or the platform smoothly; it can also make the UAV 100 land on the ground or the platform smoothly. In some implementations, the fuselage 10 is provided with a gripping portion, through which the user can use the drone 100 by hand. That is to say, the user can disassemble the tripod 12 and hold the handle to raise and lower. The stand 12 includes four supports, all of which can be manually expanded and folded, or electrically expanded and folded, which is not specifically limited here. When the tripod 12 is in the folded state, the four tripod supports are all gathered in the circumferential side 11 of the fuselage 10, the tripod support can be close to the circumferential side 11, and at least a part of the arm 20 covers at least part of the tripod 12. In part, the shape of the UAV 100 in the folded state is as regular as possible without obvious protrusions. It can be understood that, in other embodiments, the stand may also be non-foldable, that is, the stand is fixed to maintain an unfolded state.
机臂20包括连接的第一段201和第二段202。机臂20的自由端连接有动力组件21,也即是说,在图1所示的实施方式中,第二段202的末端连接有动力组件21,动力组件21包括电机211和螺旋桨212。多个机臂20包括第一机臂组22和第二机臂组24。The arm 20 includes a first section 201 and a second section 202 connected. The free end of the arm 20 is connected with a power assembly 21 , that is to say, in the embodiment shown in FIG. 1 , the end of the second section 202 is connected with a power assembly 21 , and the power assembly 21 includes a motor 211 and a propeller 212 . The plurality of arms 20 includes a first arm set 22 and a second arm set 24 .
请一并参阅图1至图3,图1为无人机100处于展开状态的结构示意图,图3为无人机100处于折叠状态下的结构示意图。具体地,在无人机100在折叠状态和展开状态之间切换过程中,每个机臂20绕一倾斜转轴13转动。请参阅图4,无人机100包括倾斜转轴13,倾斜转轴13连接机身10和机臂20,倾斜转轴13倾斜设置于机身10内,倾斜转轴13可以理解为,转动轴线不垂直于旋转平面的转轴。倾斜转轴13包括转动轴线L,由图4可知,倾斜转轴13的转动轴线L与机身10的顶面104和周向侧面11均呈一定的角度,使得机臂20绕倾斜转轴转动时,所形成的旋转平面不垂直于倾斜转轴13。请参阅图5,图5为在无人机100的一个机臂21从展开状态切换为折叠状态的场景示意图。机臂20在展开状态切换为折叠状态的过程中,一次转动就可以实现机臂20的向下折叠转动和扭动转动,使得机臂21能够很好地收拢于机身10的周向侧面11。Please refer to FIGS. 1 to 3 together. FIG. 1 is a schematic diagram of the structure of the drone 100 in an unfolded state, and FIG. 3 is a schematic diagram of the structure of the drone 100 in a folded state. Specifically, when the UAV 100 is switched between the folded state and the unfolded state, each arm 20 rotates around a tilting axis 13 . Please refer to FIG. 4 , the UAV 100 includes a tilting shaft 13, which is connected to the fuselage 10 and the arm 20. The tilting shaft 13 is obliquely arranged in the fuselage 10. The tilting shaft 13 can be understood as that the axis of rotation is not perpendicular to the rotation axis. The axis of rotation of the plane. The tilting shaft 13 includes a rotation axis L. It can be seen from FIG. The formed rotation plane is not perpendicular to the tilting axis of rotation 13 . Please refer to FIG. 5 . FIG. 5 is a schematic diagram of a scene where one arm 21 of the UAV 100 is switched from an unfolded state to a folded state. When the machine arm 20 is switched from the unfolded state to the folded state, the downward folding rotation and twisting rotation of the machine arm 20 can be realized by one rotation, so that the machine arm 21 can be well folded on the circumferential side 11 of the fuselage 10 .
请一并参阅图6至图8,具体地,机身10包括相互正交的第一面C1、第二面C2及第三面C3。第一面C1可以理解为机身10的正面,第二面C2可以理解为机身10的顶面,第三面C3可以理解为机身10的右侧面。请参阅图6,从俯视图看,机臂20的转动轴线L与第一面C1所在平面之间的第一夹角α选自范围(0°,90°),优选地,第一夹角α=34°。请参阅图7,从前视图看,机臂20的转动轴线L与第二面C2所在平面之间的第二夹角β选自范围(0°,90°),优选地,第二夹角β=21°。请参阅 图8,从右视图看,机臂20的转动轴线L与第二面C2所在平面之间的第三夹角γ选自范围(0°,90°),优选地,第三夹角γ=45°。当第一夹角α=34°、第二夹角β=21°、第三夹角γ=45°的情况下,可以使得无人机100在展开状态下,无人机100的螺旋桨212基本水平。在某些实施方式中,也可以在范围内选择第一夹角α的大小、第二夹角β的大小和第三夹角γ的大小,使得无人机100的螺旋桨212与水平面呈设计需求的夹角。Please refer to FIG. 6 to FIG. 8 together. Specifically, the fuselage 10 includes a first plane C1 , a second plane C2 and a third plane C3 that are orthogonal to each other. The first surface C1 can be understood as the front of the fuselage 10 , the second surface C2 can be understood as the top surface of the fuselage 10 , and the third surface C3 can be understood as the right side of the fuselage 10 . Please refer to FIG. 6 , from a top view, the first included angle α between the rotation axis L of the machine arm 20 and the plane where the first surface C1 is located is selected from the range (0°, 90°), preferably, the first included angle α = 34°. Please refer to Fig. 7, from the front view, the second included angle β between the rotation axis L of the machine arm 20 and the plane where the second surface C2 is located is selected from the range (0°, 90°), preferably, the second included angle β = 21°. Please refer to Fig. 8, from the right side view, the third included angle γ between the rotation axis L of the machine arm 20 and the plane where the second surface C2 is located is selected from the range (0°, 90°), preferably, the third included angle γ = 45°. When the first included angle α=34°, the second included angle β=21°, and the third included angle γ=45°, the propeller 212 of the drone 100 can basically Level. In some embodiments, the size of the first included angle α, the size of the second included angle β and the size of the third included angle γ can also be selected within a certain range, so that the propeller 212 of the UAV 100 and the horizontal plane meet the design requirements. angle.
在图4示的实施方式中,第一面C1为机身的前侧面,第二面C2为机身10的顶面,第三面C3为机身的右侧面。可以理解的是,可以根据机身的构型来具体设置第一面C1,第二面C2和第三面C3,而不限于上述的前侧面,顶面和右侧面。In the embodiment shown in FIG. 4 , the first surface C1 is the front side of the fuselage, the second surface C2 is the top surface of the fuselage 10 , and the third surface C3 is the right side of the fuselage. It can be understood that the first surface C1 , the second surface C2 and the third surface C3 can be specifically set according to the configuration of the fuselage, and are not limited to the above-mentioned front side, top surface and right side.
在无人机100处于折叠状态时,同一个机臂组的机臂20在所在侧面上并排设置,如此以使无人机100在折叠状态下外形尽量规整,没有明显的突出物。When the drone 100 is in the folded state, the arms 20 of the same arm group are arranged side by side on the side, so that the shape of the drone 100 in the folded state is as regular as possible without obvious protrusions.
请再次参阅图1,机臂20包括连接的第一段201和第二段202,第一段201转动连接机身10,第二段202相对于第一段201向上倾斜一预设锐角。也即是说第一段201与第二段202的连接不是连接成180度的,第一段201与第二段202之间是呈一定的角度的连接,如此可以在折叠状态下,机臂20的第一段201和第二段202形成的转折结构可以使得电机211不突出机身10的轮廓,使得折叠后的无人机100更加规整、紧凑,增强了无人机100的便携性。值得一提的是,第二段202相对于第一段201向上倾斜一预设锐角的大小是可以根据机身10或其他结构的不同而改变的,此处不作限定。Please refer to FIG. 1 again, the arm 20 includes a first section 201 and a second section 202 connected, the first section 201 is rotatably connected to the fuselage 10 , and the second section 202 is inclined upward at a preset acute angle relative to the first section 201 . That is to say, the connection between the first section 201 and the second section 202 is not connected at 180 degrees, and the connection between the first section 201 and the second section 202 is at a certain angle, so that in the folded state, the arm The turning structure formed by the first section 201 and the second section 202 of 20 can make the motor 211 not protrude from the outline of the fuselage 10, making the folded UAV 100 more regular and compact, and enhancing the portability of the UAV 100. It is worth mentioning that, relative to the first section 201 , the second section 202 is inclined upward by a predetermined acute angle, which may vary according to different structures of the fuselage 10 or other structures, which is not limited here.
请再次参阅图2,多个机臂20包括第一机臂组22和第二机臂组24。周向侧面11包括相背的第一侧面101和第二侧面102,第一侧面101开设有第一凹陷1010,第二侧面102开设有第二凹陷1020。在无人机100处于折叠状态时,第一机臂组22的机臂20至少部分地位于第一凹陷1010。第二机臂组24的机臂20至少部分地位于第二凹陷1020。如此,机臂20能够最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性。Please refer to FIG. 2 again, the plurality of arms 20 includes a first arm set 22 and a second arm set 24 . The circumferential side 11 includes opposite first side 101 and second side 102 , the first side 101 defines a first recess 1010 , and the second side 102 defines a second recess 1020 . When the UAV 100 is in the folded state, the arms 20 of the first arm set 22 are at least partially located in the first recess 1010 . The arms 20 of the second arm set 24 are at least partially located in the second recess 1020 . In this way, the arm 20 can fill the volume of the enveloping cube enclosed by the maximum size of the UAV 100 to the greatest extent, which improves the convenience of the UAV 100 .
动力组件21连接机臂20的自由端。自由端是指机臂远离机身10的一端。在折叠状态时,机臂20收拢于机身10的周向侧面11,且多个动力组件21基本贴合。如此,无人机100的机臂20及动力组件21最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性。The power assembly 21 is connected to the free end of the machine arm 20 . The free end refers to the end of the arm away from the fuselage 10 . In the folded state, the arm 20 is closed to the circumferential side 11 of the fuselage 10 , and the plurality of power components 21 are basically attached. In this way, the arm 20 and the power assembly 21 of the UAV 100 fill up the volume of the enveloping cube surrounded by the maximum size of the UAV 100 to the maximum, which improves the convenience of the UAV 100 .
所谓基本贴合是指聚拢在一起,并不限定为每部分均贴合。例如,动力组件21的螺旋桨212可以不贴合,电机211可以贴合。基本贴合也可指接触在一起,也可以指间隔一定距离,该距离在期望的范围内。The so-called basic fit refers to gathering together, and is not limited to the fit of each part. For example, the propeller 212 of the power assembly 21 may not be attached, but the motor 211 may be attached. Substantial fit may also refer to touching together, or may refer to being separated by a distance, the distance being within a desired range.
请再次参阅图2,在某些实施方式中,动力组件21包括第一动力组件21a和第二动力组件21b。Please refer to FIG. 2 again, in some embodiments, the power assembly 21 includes a first power assembly 21a and a second power assembly 21b.
多个机臂20包括第一机臂组22和第二机臂组24,周向侧面11包括相背的第一侧面101和第二侧面102,第一机臂组22转动连接在第一侧面101,第二机臂组24转动连接在第二侧面102,第一机臂组22的第一动力组件21a基本贴合,第二机臂组24的第二动力组件21b基本贴合。第一动力组件21a设置在第一机臂组22上,第二动力组件21b设置在第二机臂组24上。如此,使得无人机100在折叠状态下,无人机100的机臂20及动力组件21最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性。A plurality of machine arms 20 includes a first machine arm group 22 and a second machine arm group 24, the circumferential side 11 includes a first side 101 and a second side 102 opposite to each other, and the first machine arm group 22 is rotatably connected to the first side 101, the second arm set 24 is rotatably connected to the second side 102, the first power assembly 21a of the first arm set 22 is basically attached, and the second power assembly 21b of the second arm set 24 is basically attached. The first power assembly 21a is arranged on the first arm group 22 , and the second power assembly 21b is arranged on the second arm group 24 . In this way, when the UAV 100 is in the folded state, the arm 20 and the power assembly 21 of the UAV 100 fill the volume in the envelope cube surrounded by the maximum size of the UAV 100 to the greatest extent, which improves the unmanned Machine 100 Convenience.
请一并参阅图9和图10,动力组件21包括电机211,在折叠状态时,同一个机臂组的两个电机211基本贴合。也即是说,动力组件21包括第一动力组件21a和第二动力组件21b。第一动力组件21a包括两个电机211,即为第一电机211a和第二电机211b,第二动力组件21b包括两个电机211,即为第三电机211c和第四电机211d。在某些实施方式中,四个机臂20转动地连接机身10。四个机臂20包括第一机臂组22和第二机臂组24。第一机臂组22可以包括第一机臂20a,第二机臂20b。第二机臂组24可以包括第三机臂20c和第四机臂20d。第一机臂20a的自由端连接第一电机211a,第二机臂20b的自由端连接第二电机211b,第三机臂20c的自由端连接第三电机211c,第四机臂20d的自由端连接第四电机211d。在折叠状态时,第一电机211a和第二电机211b在第一侧面101基本贴合,具体地,是第一电机211a的底部和第二电机211b的底部基本贴合;第三电机211c和第四电机211d在第二侧面102基本贴合,具体地,是第三电机211c的底部和第四电机211d的底部基本贴合。在无人机100处于折叠状态时,多个动力组件21的电机211位于机身10的底部103。如此可以使得无人机100在折叠状态下外形尽量规整,无人机100的机臂20及动力组件21最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性。Please refer to FIG. 9 and FIG. 10 together. The power assembly 21 includes a motor 211. In the folded state, the two motors 211 of the same machine arm group are basically attached. That is to say, the power assembly 21 includes a first power assembly 21a and a second power assembly 21b. The first power assembly 21a includes two motors 211, namely a first motor 211a and a second motor 211b, and the second power assembly 21b includes two motors 211, namely a third motor 211c and a fourth motor 211d. In some embodiments, four arms 20 are rotatably connected to the fuselage 10 . The four arms 20 include a first arm group 22 and a second arm group 24 . The first arm set 22 may include a first arm 20a and a second arm 20b. The second arm set 24 may include a third arm 20c and a fourth arm 20d. The free end of the first machine arm 20a is connected to the first motor 211a, the free end of the second machine arm 20b is connected to the second motor 211b, the free end of the third machine arm 20c is connected to the third motor 211c, and the free end of the fourth machine arm 20d The fourth motor 211d is connected. In the folded state, the first motor 211a and the second motor 211b are basically attached on the first side 101, specifically, the bottom of the first motor 211a is basically attached to the bottom of the second motor 211b; the third motor 211c and the second The four motors 211d are basically attached on the second side 102, specifically, the bottom of the third motor 211c is basically attached to the bottom of the fourth motor 211d. When the drone 100 is in a folded state, the motors 211 of the plurality of power assemblies 21 are located at the bottom 103 of the fuselage 10 . In this way, the shape of the UAV 100 can be as regular as possible in the folded state, and the arm 20 and the power assembly 21 of the UAV 100 can fill the volume in the enveloping cube surrounded by the maximum size of the UAV 100 to the greatest extent. The convenience of the UAV 100 is guaranteed.
请一并参阅图1和图9,螺旋桨212连接电机211,螺旋桨212包括折叠桨。在图9所示的实施方式中,无人机包括4个机臂20,即为:第一机臂20a、第二机臂20b、第三机臂20c和第四机臂20d。动力组件21包括螺旋桨212,四个螺旋桨212分别设置在第一机臂20a、第二机臂20b、第三机臂20c和第四机臂20d上,并且四个螺旋桨212分别与第一电机211a、第二电机211b、第三电机211c和第四电机211d连接。第一电机211a、第二电机211b、第三电机211c和第四电机211d可以驱动四个螺旋桨212转动,进而控制螺旋桨212的转动方向和转动速度。Please refer to FIG. 1 and FIG. 9 together, the propeller 212 is connected to the motor 211 , and the propeller 212 includes folding paddles. In the embodiment shown in FIG. 9 , the drone includes four arms 20, namely: a first arm 20a, a second arm 20b, a third arm 20c and a fourth arm 20d. The power assembly 21 includes propellers 212, four propellers 212 are respectively arranged on the first machine arm 20a, the second machine arm 20b, the third machine arm 20c and the fourth machine arm 20d, and the four propellers 212 are respectively connected with the first motor 211a , the second motor 211b, the third motor 211c and the fourth motor 211d are connected. The first motor 211a, the second motor 211b, the third motor 211c and the fourth motor 211d can drive the four propellers 212 to rotate, thereby controlling the rotation direction and the rotation speed of the propellers 212 .
请结合图9和图10,螺旋桨212包括上表面2121和下表面2122,在无人机100处于折叠状态时,螺旋桨212的上表面2121背向机身10。在无人机100处于展开状态时,螺旋桨212的桨平面基本呈水平,在无人机100处于折叠状态时,螺旋桨212的桨平面与机身10的周向侧面11平行。如此,可以使无人机100在展开状态下能够保证平稳的飞行性能,在折叠状态下外形尽量规整,没有明显的突出物,以最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积。Please refer to FIG. 9 and FIG. 10 , the propeller 212 includes an upper surface 2121 and a lower surface 2122 , and when the UAV 100 is in a folded state, the upper surface 2121 of the propeller 212 faces away from the fuselage 10 . When the UAV 100 is in the unfolded state, the paddle plane of the propeller 212 is substantially horizontal, and when the UAV 100 is in the folded state, the paddle plane of the propeller 212 is parallel to the circumferential side 11 of the fuselage 10 . In this way, the unmanned aerial vehicle 100 can ensure stable flight performance in the unfolded state, and the appearance is as regular as possible in the folded state, without obvious protrusions, so as to fill the package surrounded by the maximum size of the unmanned aerial vehicle 100 to the greatest extent. The volume inside the network cube.
具体地,在图10的示例中,在无人机100处于折叠状态时,螺旋桨212的桨平面与机身10的前侧面或后侧面平行。Specifically, in the example of FIG. 10 , when the UAV 100 is in a folded state, the paddle plane of the propeller 212 is parallel to the front side or the rear side of the fuselage 10 .
请一并参阅图1和图6,云台相机30连接在机身10底部。云台相机30与机臂20在一平面上的正投影错开,平面垂直于机身10长度方向,如此,可以避免机臂20和云台相机30造成物理干涉。Please refer to FIG. 1 and FIG. 6 together, the pan-tilt camera 30 is connected to the bottom of the fuselage 10 . The orthographic projections of the pan-tilt camera 30 and the machine arm 20 on a plane are staggered, and the plane is perpendicular to the length direction of the fuselage 10, so that physical interference between the machine arm 20 and the pan-tilt camera 30 can be avoided.
具体地,在图2所示实施方式中,机身10的底部103开设有容置槽1031,云台相机30至少部分地位于容置槽1031内,这样可进一步减少无人机100的空间占用。在图2所示的实施方式中,云台相机30的一部分收容在容置槽1031,一部分凸出于容置槽1031。Specifically, in the embodiment shown in FIG. 2 , the bottom 103 of the fuselage 10 is provided with an accommodating groove 1031, and the gimbal camera 30 is at least partially located in the accommodating groove 1031, which can further reduce the space occupation of the UAV 100. . In the embodiment shown in FIG. 2 , a part of the pan-tilt camera 30 is accommodated in the accommodating groove 1031 , and a part protrudes out of the accommodating groove 1031 .
在无人机100处于折叠状态时,云台相机30位于多个机臂20围成的空间内。如此云台相机30设置在多个机臂20围成的空间内,最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性,同时多个机臂20能够保护云台相机30,尽量避免无人机100在折叠后携带的情况下,云台相机30被刮伤、划伤、或因磕碰而损坏。When the UAV 100 is in a folded state, the pan-tilt camera 30 is located in the space surrounded by a plurality of arms 20 . In this way, the pan-tilt camera 30 is set in the space surrounded by a plurality of machine arms 20, and the volume in the envelope cube surrounded by the maximum size of the UAV 100 is filled to the greatest extent, and the convenience of the UAV 100 is improved. At the same time, a plurality of arms 20 can protect the pan-tilt camera 30, and try to prevent the pan-tilt camera 30 from being scratched, scratched, or damaged due to bumps when the drone 100 is carried after being folded.
可以理解,在其它实施方式中,机身的底部103可不开设容置槽1031,云台相机30可整体地凸设在机身的底部103。It can be understood that, in other embodiments, the bottom 103 of the fuselage may not have the accommodating groove 1031 , and the pan-tilt camera 30 may be integrally protruded from the bottom 103 of the fuselage.
请一并参阅图2、图11和图12,云台相机30包括云台31和相机32。云台31包括第一轴组件311、第二轴组件312和第三轴组件313,第一轴组件311连接机身10,第二轴组件312连接第一轴组件311和第三轴组件313,相机32安装在第三轴组件313,如此,云台31具有三个轴的自由度,再加上无人机100自身的三个轴自由度,可以实现相机32最多6个轴的自由度。在某些实施方式中,第一轴组件311为云台31的俯仰轴组件311(即为Pitch轴组件),第二轴组件312为云台31的偏航轴组件312(即为Yaw轴组件),第三轴组件313为云台31的横滚轴组件313(即为Roll轴组件)。也即是说,俯仰轴组件311连接机身10,偏航轴组件312连接俯仰轴组件311和横滚轴组件313,相机32安装在横滚轴组件313。俯仰轴组件311包括俯仰轴电机,俯仰轴电机可以控制相机32的俯仰运动。偏航轴组件312包括偏航轴电机, 偏航轴电机可以控制相机32的偏航运动。横滚轴组件313包括横滚轴电机,横滚轴电机可以控制相机32的滚转运动。如此可以实现无人机100的灵活取景。Please refer to FIG. 2 , FIG. 11 and FIG. 12 , the pan-tilt camera 30 includes a pan-tilt 31 and a camera 32 . The cloud platform 31 includes a first shaft assembly 311, a second shaft assembly 312 and a third shaft assembly 313, the first shaft assembly 311 is connected to the fuselage 10, the second shaft assembly 312 is connected to the first shaft assembly 311 and the third shaft assembly 313, The camera 32 is mounted on the third axis assembly 313, so that the gimbal 31 has three degrees of freedom of the axis, plus the three axes of freedom of the UAV 100 itself, the camera 32 can realize a maximum of six degrees of freedom of the axis. In some embodiments, the first axis assembly 311 is the pitch axis assembly 311 of the gimbal 31 (ie, the Pitch axis assembly), and the second axis assembly 312 is the yaw axis assembly 312 of the gimbal 31 (ie, the Yaw axis assembly). ), the third axis assembly 313 is the roll axis assembly 313 of the gimbal 31 (that is, the Roll axis assembly). That is to say, the pitch axis assembly 311 is connected to the fuselage 10 , the yaw axis assembly 312 is connected to the pitch axis assembly 311 and the roll axis assembly 313 , and the camera 32 is installed on the roll axis assembly 313 . The pitch axis assembly 311 includes a pitch axis motor, which can control the pitch motion of the camera 32 . The yaw axis assembly 312 includes a yaw axis motor that can control the yaw motion of the camera 32 . The roll axis assembly 313 includes a roll axis motor, which can control the roll motion of the camera 32 . In this way, flexible viewing of the UAV 100 can be realized.
云台相机30通过第一轴组件-Pitch轴组件、第二轴组件-Yaw轴组件和第三轴组件-Roll轴组件的构型,可以获得很大的俯仰运动控制范围,有利于无人机100进行俯拍、倒拍,甚至可以拍摄过顶画面。也可以获得很大的滚转运动控制范围,有利于拍摄旋转、周转画面,增强了影视创作的灵活度,同时更大的滚转运动控制范围,意味着可以直接将相机32的画面旋转90度进行横竖拍切换,有利于竖屏视频的拍摄。横滚轴组件313的双端支撑相机32,增强了云台相机30的稳定性。值得一提的是,无人机100的偏航控制范围是360°任意偏航方向可控的,无人机100可以与云台相机30的偏航控制范围实现互补。也即是说,无人机100可以实现大范围的、初步的偏航控制,云台相机30可以实现小范围的、精细的偏航控制,如此无人机100可以与云台相机30的偏航控制范围实现互补。The pan/tilt camera 30 can obtain a large control range of pitch motion through the configuration of the first axis assembly-Pitch axis assembly, the second axis assembly-Yaw axis assembly and the third axis assembly-Roll axis assembly, which is beneficial to the unmanned aerial vehicle 100 for overhead shooting, reverse shooting, and even overhead shooting. It can also obtain a large rolling motion control range, which is beneficial to shooting rotation and turnover images, and enhances the flexibility of film and television creation. At the same time, a larger rolling motion control range means that the image of the camera 32 can be directly rotated by 90 degrees Switching between horizontal and vertical shooting is beneficial for shooting vertical screen videos. The double ends of the rolling axis assembly 313 support the camera 32 , which enhances the stability of the pan-tilt camera 30 . It is worth mentioning that the yaw control range of the UAV 100 is controllable in any yaw direction of 360°, and the UAV 100 can complement the yaw control range of the gimbal camera 30 . That is to say, the unmanned aerial vehicle 100 can realize large-scale, preliminary yaw control, and the pan-tilt camera 30 can realize small-scale, fine yaw control, so that the unmanned aerial vehicle 100 can achieve the yaw control with the pan-tilt camera 30 The scope of navigation control is complementary.
请参阅图12,俯仰轴组件311的电机轴线为第一轴线K1,偏航轴组件312的电机轴线为第二轴线K2,横滚轴组件313的电机轴线为第三轴线K3。其中,第一轴线K1、第二轴线K2和第三轴线K3之间可以不正交,即不互相垂直。当三个轴线之间的夹角均为非90度夹角时,构成了非正交云台相机30构型。在一个实施例中,在某云台电机进行旋转运动的情况下,引起了相机32拍摄画面横滚方向的运动,则称该电机为正交的横滚轴电机;在某云台电机进行旋转运动的情况下,引起了相机32拍摄画面横滚方向、俯仰方向等多个方向的运动,则称该电机为非正交的横滚轴和俯仰轴电机。其它轴的运动也可以此类推。Referring to FIG. 12 , the motor axis of the pitch axis assembly 311 is the first axis K1 , the motor axis of the yaw axis assembly 312 is the second axis K2 , and the motor axis of the roll axis assembly 313 is the third axis K3 . Wherein, the first axis K1, the second axis K2 and the third axis K3 may not be orthogonal, that is, not perpendicular to each other. When the included angles among the three axes are all non-90-degree included angles, the configuration of the non-orthogonal pan/tilt camera 30 is formed. In one embodiment, when a certain pan/tilt motor rotates, causing the camera 32 to take pictures in the rolling direction, the motor is called an orthogonal roll axis motor; when a certain pan/tilt motor rotates In the case of movement, the camera 32 causes movement in multiple directions such as the rolling direction and the pitching direction of the picture taken by the camera 32, and the motor is called a non-orthogonal rolling axis and pitching axis motor. The movement of other axes can also be deduced by analogy.
请参阅图13,避障组件40包括多个视觉传感器41,多个视觉传感器41在空间上呈多面体分布,多面体的每个平面分布有至少一个视觉传感器41,不同平面上的两个视觉传感器41构成一个双目避障系统,双目避障系统的避障观测区是两个视觉传感器41的观测范围的交叠区。可以通过观测双目避障系统的避障观测区里的障碍物实现有效感知障碍物和避障,保证无人机工作过程中的安全。Referring to Fig. 13, the obstacle avoidance assembly 40 includes a plurality of visual sensors 41, and a plurality of visual sensors 41 are distributed in a polyhedron in space, and each plane of the polyhedron is distributed with at least one visual sensor 41, and two visual sensors 41 on different planes A binocular obstacle avoidance system is formed, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the overlapping area of the observation ranges of the two visual sensors 41 . By observing the obstacles in the obstacle avoidance observation area of the binocular obstacle avoidance system, the effective perception and avoidance of obstacles can be realized to ensure the safety of the drone during work.
多个视觉传感器41在空间上呈多面体分布,多面体包括但不限于四面体、五面体、六面体等,此处不做具体限定。多面体的每个平面分布有至少一个视觉传感器41,不同平面上的两个视觉传感器41构成一个双目避障系统,双目避障系统的避障观测区是两个视觉传感器41的观测范围的交叠区。The multiple visual sensors 41 are distributed in a polyhedron in space, and the polyhedron includes but not limited to tetrahedron, pentahedron, hexahedron, etc., which are not specifically limited here. Each plane of the polyhedron is distributed with at least one visual sensor 41, and two visual sensors 41 on different planes form a binocular obstacle avoidance system, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the range of observation of the two visual sensors 41. overlap area.
多个视觉传感器41满足以下其中一个条件就可以实现有效感知障碍物和避障:所有视觉传感器41设置在机身10,或部分视觉传感器41设置在机身10,其余视觉传感器41设置在机臂20,或所有视觉传感器41设置在机臂20。在一个实施例中, 避障组件40包括四个视觉传感器41,四个视觉传感器41设置均可以在机身10上,四个视觉传感器41两两组合,构成六个双目避障系统,六个双目避障系统的避障观测区的集合覆盖整个空间球面,如此可以通过观测双目避障系统的避障观测区里的障碍物实现有效感知障碍物和避障,保证无人机工作过程中的安全。A plurality of visual sensors 41 can realize effective obstacle perception and obstacle avoidance if one of the following conditions is met: all visual sensors 41 are arranged on the fuselage 10, or some of the visual sensors 41 are arranged on the fuselage 10, and the rest of the visual sensors 41 are arranged on the machine arm 20, or all visual sensors 41 are arranged on the machine arm 20. In one embodiment, the obstacle avoidance assembly 40 includes four visual sensors 41, and the four visual sensors 41 can be arranged on the fuselage 10. The four visual sensors 41 are combined in pairs to form six binocular obstacle avoidance systems. The collection of the obstacle avoidance observation areas of the binocular obstacle avoidance system covers the entire space sphere, so that obstacles in the obstacle avoidance observation area of the binocular obstacle avoidance system can be observed to realize effective obstacle perception and obstacle avoidance, and ensure the work of the UAV. safety in the process.
在图4所示的实施方式中,4个视觉传感器41包括前上视觉传感器41、后上视觉传感器41、左下视觉传感器41和右下视觉传感器41。前上视觉传感器41和后上视觉传感器41位于机身10的同一高度,左下视觉传感器41和右下视觉传感器41位于机身10的同一高度。可以理解,在其它实施方式中,4个视觉传感器41也可以作其它布置,例如,4个视觉传感器41包括左上视觉传感器41、右上视觉传感器41、前下视觉传感器41和后下视觉传感器41等。4个视觉传感器41可以均位于同一高度,也可以位于不同的4个高度。在此不作限定。In the embodiment shown in FIG. 4 , the four visual sensors 41 include a front upper visual sensor 41 , a rear upper visual sensor 41 , a lower left visual sensor 41 and a lower right visual sensor 41 . The front upper visual sensor 41 and the rear upper visual sensor 41 are located at the same height of the fuselage 10 , and the left lower visual sensor 41 and the right lower visual sensor 41 are located at the same height of the fuselage 10 . It can be understood that in other embodiments, the four visual sensors 41 can also be arranged in other ways, for example, the four visual sensors 41 include an upper left visual sensor 41, an upper right visual sensor 41, a front lower visual sensor 41 and a rear lower visual sensor 41, etc. . The four visual sensors 41 may all be located at the same height, or may be located at four different heights. It is not limited here.
当部分视觉传感器41设置在机身10,其余视觉传感器41设置在机臂20,仍以4个视觉传感器41为例说明,三个视觉传感器41可以设置在机身的周向侧面11,或底部103,另一个视觉传感器可以设在机身的顶部(即为顶面104)。在周向侧面11的视觉传感器41可以设置在机身10的不同高度,或相同高度。When part of the visual sensors 41 are arranged on the fuselage 10, and the rest of the visual sensors 41 are arranged on the machine arm 20, still taking four visual sensors 41 as an example, three visual sensors 41 can be arranged on the circumferential side 11 or the bottom of the fuselage 103, another visual sensor can be set on the top of the fuselage (that is, the top surface 104). The vision sensors 41 on the circumferential sides 11 can be arranged at different heights of the fuselage 10, or at the same height.
当所有视觉传感器41设置在机臂20时,仍以4个视觉传感器41为例说明,无人机100包括4个机臂,每个视觉传感器41可以设置在对应的一个机臂20的自由端。电机211和螺旋桨212的设置以不进入视觉传感器41的视野范围(FOV)为宜。When all visual sensors 41 are arranged on the machine arm 20, four visual sensors 41 are still taken as an example. The UAV 100 includes four machine arms, and each visual sensor 41 can be arranged on the free end of a corresponding machine arm 20. . It is advisable that the motor 211 and the propeller 212 do not enter the field of view (FOV) of the visual sensor 41 .
上述实施方式的视觉传感器41的FOV可根据无人机100的构型,视觉传感器41的布置来选择,以使得视觉传感器41所形成的双目避障系统能够完全覆盖或基本覆盖无人机100所在的整个空间球面。在一些例子中,FOV可以大于180度,例如190度,220度等。The FOV of the visual sensor 41 in the above-mentioned embodiment can be selected according to the configuration of the drone 100 and the arrangement of the visual sensor 41, so that the binocular obstacle avoidance system formed by the visual sensor 41 can completely cover or basically cover the drone 100. The entire sphere of space where . In some examples, the FOV may be greater than 180 degrees, such as 190 degrees, 220 degrees, etc.
需要指出的是,上述只是以具体例子来说明视觉传感器41的布置方式,但不应理解为对本申请的限制。例如,多个视觉传感器41可以是两个,三个,或多于4个等。It should be pointed out that the above is just a specific example to illustrate the arrangement of the visual sensor 41 , but it should not be construed as a limitation to the present application. For example, the plurality of visual sensors 41 may be two, three, or more than four, and so on.
视觉传感器41可以设置在安装部111,安装部111设置于机身10的周向侧面11,在无人机100处于折叠状态时,安装部111抵靠机臂20。如此,一方面,安装部111便于视觉传感器41的安装,另一方面,安装部111可以对机臂20进行限定,避免机臂20转动时相互碰撞而损坏,同时也可保护倾斜转轴31。The visual sensor 41 can be arranged on the installation part 111 , and the installation part 111 is arranged on the circumferential side 11 of the fuselage 10 , and when the UAV 100 is in a folded state, the installation part 111 abuts against the arm 20 . In this way, on the one hand, the installation part 111 facilitates the installation of the visual sensor 41 , on the other hand, the installation part 111 can limit the arms 20 to prevent the arms 20 from colliding and being damaged when they rotate, and can also protect the tilting shaft 31 at the same time.
请一并参阅图2和图13,电池50能够为无人机100提供电能。机身10的顶面104开设有收容槽1041,电池50至少部分地收容在收容槽1041。在某些实施方式中,电池50是能够拆卸地收容在收容槽1041,电池50的拆卸方向或安装方向沿机身10 长度方向。电池50的重心在垂直方向上与无人机100的升力中心重合。Please refer to FIG. 2 and FIG. 13 together, the battery 50 can provide electric energy for the drone 100 . The top surface 104 of the fuselage 10 defines a receiving slot 1041 , and the battery 50 is at least partially received in the receiving slot 1041 . In some embodiments, the battery 50 is detachably accommodated in the receiving slot 1041 , and the detachment or installation direction of the battery 50 is along the length direction of the fuselage 10 . The center of gravity of the battery 50 coincides with the center of lift of the drone 100 in the vertical direction.
收容槽1041包括电池仓,收容槽1041用于收容电池50,收容槽1041和电池50可以通过卡合的方式进行固定,此处不作限定。收容槽1041的大小与收容电池50的大小相关。电池50的重心在垂直方向上与无人机100的升力中心重合。升力中心可以是四个螺旋桨212的升力的合力的中心。电池50包括加长电池,加长电池可以增强无人机100的续航能力。加长电池的重心在垂直方向上与无人机100的升力中心重合,电池的加长、加重不会无人机的重心产生水平方向的偏移(水平方向与垂直方向垂直)。无人机的重心在垂直方向上与无人机100的升力中心重合,可以使得无人机100的四个螺旋桨212出力平均,这可以提升螺旋桨212的效率,有利于续航。The receiving slot 1041 includes a battery compartment, and the receiving slot 1041 is used for receiving the battery 50 . The receiving slot 1041 and the battery 50 can be fixed by engaging, which is not limited herein. The size of the receiving groove 1041 is related to the size of the battery 50 . The center of gravity of the battery 50 coincides with the center of lift of the drone 100 in the vertical direction. The center of lift may be the center of the resultant of the lift of the four propellers 212 . The battery 50 includes an extended battery, which can enhance the endurance of the drone 100 . The center of gravity of the extended battery coincides with the center of lift of the UAV 100 in the vertical direction, and the lengthening and weighting of the battery will not cause the center of gravity of the UAV to shift horizontally (the horizontal direction is perpendicular to the vertical direction). The center of gravity of the UAV coincides with the center of lift of the UAV 100 in the vertical direction, which can make the output of the four propellers 212 of the UAV 100 average, which can improve the efficiency of the propellers 212 and is beneficial to battery life.
综上所述,本申请实施方式的无人机100包括机身10,多个机臂20。多个机臂20转动地连接机身10,以使得无人机100能够处于折叠状态和展开状态,机臂20的自由端连接有动力组件21,其中,在无人机100在折叠状态和展开状态之间切换过程中,机臂20绕一转轴做复合转动,复合转动包括绕倾斜转轴方向转动,在折叠状态时,机臂20收拢于机身10的周向侧面11,且多个动力组件21基本贴合。如此,无人机100在折叠状态下,无人机100的机臂20及动力组件21最大限度地填满无人机100的最大尺寸围成的包络立方体内的体积,提升了无人机100的便捷性。To sum up, the UAV 100 according to the embodiment of the present application includes a fuselage 10 and a plurality of arms 20 . A plurality of machine arms 20 are rotatably connected to the fuselage 10, so that the unmanned aerial vehicle 100 can be in a folded state and an unfolded state, and the free ends of the machine arms 20 are connected with a power assembly 21. In the process of switching between states, the machine arm 20 performs compound rotation around a rotating shaft, and the compound rotating includes rotating around a tilted rotating shaft direction. 21 basic fit. In this way, when the UAV 100 is in the folded state, the arm 20 and the power assembly 21 of the UAV 100 fill the volume in the envelope cube surrounded by the maximum size of the UAV 100 to the maximum, which improves the UAV. 100's in convenience.
在本说明书的描述中,参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. mean that the embodiments are combined Specific features, structures, materials, or characteristics described in or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
尽管已经示出和描述了本申请的实施方式,本领域的普通技术人员可以理解:在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型,本申请的范围由权利要求及其等同物限定。Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present application. The scope of the application is defined by the claims and their equivalents.

Claims (30)

  1. 一种无人机,其特征在于,包括:A kind of unmanned aerial vehicle, is characterized in that, comprises:
    机身,body,
    多个机臂,转动地连接所述机身,以使得所述无人机能够处于折叠状态和展开状态,所述机臂的自由端连接有动力组件,A plurality of machine arms are rotatably connected to the fuselage, so that the drone can be in a folded state and an unfolded state, and the free ends of the arms are connected with power components,
    其中,在所述无人机在折叠状态和展开状态之间切换过程中,所述机臂绕一倾斜转轴转动,在折叠状态时,所述机臂收拢于所述机身的周向侧面,且多个所述动力组件基本贴合。Wherein, during the switching process of the UAV between the folded state and the unfolded state, the arm rotates around an inclined shaft, and in the folded state, the arm is folded on the circumferential side of the fuselage, And a plurality of said power components are basically bonded.
  2. 根据权利要求1所述的无人机,其特征在于,所述多个机臂包括第一机臂组和第二机臂组,所述周向侧面包括相背的第一侧面和第二侧面,所述第一机臂组转动连接在所述第一侧面,所述第二机臂组转动连接在所述第二侧面,所述第一机臂组的动力组件基本贴合,所述第二机臂组的动力组件基本贴合。The unmanned aerial vehicle according to claim 1, wherein the plurality of arms comprises a first arm group and a second arm group, and the circumferential sides comprise opposite first sides and second sides , the first machine arm group is rotatably connected to the first side, the second machine arm group is rotatably connected to the second side, the power components of the first machine arm group are basically attached, and the second machine arm group is rotatably connected to the second side. The power components of the two arm groups basically fit together.
  3. 根据权利要求2所述的无人机,其特征在于,所述动力组件包括电机,同一个机臂组的两个电机基本贴合。The unmanned aerial vehicle according to claim 2, wherein the power assembly includes a motor, and the two motors of the same arm group are basically attached.
  4. 根据权利要求1所述的无人机,其特征在于,在所述无人机处于折叠状态时,多个所述动力组件的电机位于所述机身的底部。The unmanned aerial vehicle according to claim 1, wherein when the unmanned aerial vehicle is in a folded state, a plurality of motors of the power components are located at the bottom of the fuselage.
  5. 根据权利要求3所述的无人机,其特征在于,所述动力组件包括连接所述电机的螺旋桨,所述螺旋桨包括上表面和下表面,在所述无人机处于折叠状态时,所述螺旋桨的上表面背向所述机身。The drone according to claim 3, wherein the power assembly includes a propeller connected to the motor, the propeller includes an upper surface and a lower surface, and when the drone is in a folded state, the The upper surface of the propeller faces away from the fuselage.
  6. 根据权利要求5所述的无人机,其特征在于,所述螺旋桨为折叠桨。The unmanned aerial vehicle according to claim 5, wherein the propeller is a folding paddle.
  7. 根据权利要求5所述的无人机,其特征在于,在所述无人机处于展开状态时,所述螺旋桨的桨平面基本呈水平,在所述无人机处于折叠状态时,所述螺旋桨的桨平面与所述机身的周向侧面平行。The unmanned aerial vehicle according to claim 5, wherein when the unmanned aerial vehicle is in an unfolded state, the paddle plane of the propeller is substantially horizontal, and when the unmanned aerial vehicle is in a folded state, the propeller The paddle planes are parallel to the circumferential sides of the fuselage.
  8. 根据权利要求2所述的无人机,其特征在于,在所述无人机处于折叠状态时,同 一个机臂组的机臂在所在侧面上并排设置。The unmanned aerial vehicle according to claim 2, wherein when the unmanned aerial vehicle is in a folded state, the arms of the same arm group are arranged side by side on the side where it is located.
  9. 根据权利要求1所述的无人机,其特征在于,所述机臂包括连接的第一段和第二段,所述第一段转动连接所述机身,所述第二段相对于所述第一段向上倾斜一预设锐角。The unmanned aerial vehicle according to claim 1, wherein the arm comprises a connected first section and a second section, the first section is rotatably connected to the fuselage, and the second section is relative to the The first segment is inclined upward at a preset acute angle.
  10. 根据权利要求1所述的无人机,其特征在于,所述机身包括相互正交的第一面、第二面及第三面,所述机臂的转动轴线与所述第一面所在平面之间的第一夹角选自范围(0°,90°),所述机臂的转动轴线与所述第二面所在平面之间的第二夹角选自范围(0°,90°),所述机臂的转动轴线与所述第三面所在平面之间的第三夹角选自范围(0°,90°)。The unmanned aerial vehicle according to claim 1, wherein the fuselage includes a first surface, a second surface, and a third surface that are orthogonal to each other, and the rotation axis of the arm is in the same position as the first surface. The first included angle between the planes is selected from the range (0°, 90°), and the second included angle between the rotation axis of the arm and the plane where the second surface is located is selected from the range (0°, 90° ), the third angle between the rotation axis of the arm and the plane where the third surface is located is selected from the range (0°, 90°).
  11. 根据权利要求10所述的无人机,其特征在于,所述第一夹角为34°。The drone according to claim 10, wherein the first included angle is 34°.
  12. 根据权利要求10所述的无人机,其特征在于,所述第二夹角为21°。The drone according to claim 10, wherein the second included angle is 21°.
  13. 根据权利要求10所述的无人机,其特征在于,所述第三夹角为45°。The drone according to claim 10, wherein the third included angle is 45°.
  14. 根据权利要求2所述的无人机,其特征在于,所述第一侧面开设有第一凹陷,在所述无人机处于折叠状态时,所述第一机臂组的机臂至少部分地位于所述第一凹陷。The unmanned aerial vehicle according to claim 2, wherein the first side is provided with a first depression, and when the unmanned aerial vehicle is in a folded state, the arms of the first arm group are at least partially located in the first recess.
  15. 根据权利要求2所述的无人机,其特征在于,所述第二侧面开设有第二凹陷,在所述无人机处于折叠状态时,所述第二机臂组的机臂至少部分地位于所述第二凹陷。The unmanned aerial vehicle according to claim 2, wherein the second side is provided with a second depression, and when the unmanned aerial vehicle is in a folded state, the arms of the second arm group are at least partially located in the second recess.
  16. 根据权利要求1所述的无人机,其特征在于,所述无人机包括连接在所述机身底部的云台相机,在所述无人机处于折叠状态时,所述云台相机位于所述多个机臂围成的空间内。The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle includes a pan-tilt camera connected to the bottom of the fuselage, and when the unmanned aerial vehicle is in a folded state, the pan-tilt camera is located In the space enclosed by the plurality of machine arms.
  17. 根据权利要求16所述的无人机,其特征在于,所述机身的底部开设有容置槽,所述云台相机至少部分地位于所述容置槽内。The unmanned aerial vehicle according to claim 16, wherein an accommodation slot is opened at the bottom of the fuselage, and the pan/tilt camera is at least partially located in the accommodation slot.
  18. 根据权利要求16所述的无人机,其特征在于,所述云台相机包括云台和相机,所述云台包括第一轴组件、第二轴组件和第三轴组件,所述第一轴组件连接所述机身,所述第二轴组件连接所述第一轴组件和所述第三轴组件,所述相机安装在所述第三轴组件。The unmanned aerial vehicle according to claim 16, wherein the pan-tilt camera comprises a pan-tilt and a camera, the pan-tilt comprises a first shaft assembly, a second shaft assembly and a third shaft assembly, the first A shaft assembly is connected to the fuselage, the second shaft assembly is connected to the first shaft assembly and the third shaft assembly, and the camera is mounted on the third shaft assembly.
  19. 根据权利要求18所述的无人机,其特征在于,所述第一轴组件为所述云台的俯仰轴组件,所述第二轴组件为所述云台的偏航轴组件,所述第三轴组件为所述云台的横滚轴组件。The unmanned aerial vehicle according to claim 18, wherein the first axis assembly is a pitch axis assembly of the gimbal, the second axis assembly is a yaw axis assembly of the gimbal, and the The third axis assembly is the roll axis assembly of the gimbal.
  20. 根据权利要求16所述的无人机,其特征在于,所述机臂与所述云台相机在一平面上的正投影错开,所述平面垂直于所述机身长度方向。The unmanned aerial vehicle according to claim 16, wherein the orthographic projection of the arm and the pan-tilt camera on a plane is staggered, and the plane is perpendicular to the length direction of the fuselage.
  21. 根据权利要求1所述的无人机,其特征在于,所述无人机包括避障组件,所述避障组件包括多个视觉传感器,所述多个视觉传感器在空间上呈多面体分布,所述多面体的每个平面分布有至少一个所述视觉传感器,不同平面上的两个视觉传感器构成一个双目避障系统,所述双目避障系统的避障观测区是所述两个视觉传感器的观测范围的交叠区。The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle includes an obstacle avoidance component, and the obstacle avoidance component includes a plurality of visual sensors, and the plurality of visual sensors are distributed in a polyhedron in space, so Each plane of the polyhedron is distributed with at least one visual sensor, and two visual sensors on different planes form a binocular obstacle avoidance system, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the The overlapping area of the observation range.
  22. 根据权利要求21所述的无人机,其特征在于,所述多个视觉传感器满足以下其中一个条件:The unmanned aerial vehicle according to claim 21, wherein the plurality of visual sensors meet one of the following conditions:
    所有视觉传感器设置在所述机身;All visual sensors are arranged on the fuselage;
    部分视觉传感器设置在所述机身,其余视觉传感器设置在所述机臂;Part of the visual sensors are set on the fuselage, and the rest of the visual sensors are set on the arms;
    所有视觉传感器设置在所述机臂。All vision sensors are located on the arms.
  23. 根据权利要求21所述的无人机,其特征在于,所述机身的周向侧面设有安装部,所述视觉传感器安装在所述安装部,在所述无人机处于折叠状态时,所述安装部抵靠所述机臂。The unmanned aerial vehicle according to claim 21, wherein a mounting portion is provided on the circumferential side of the fuselage, the visual sensor is mounted on the mounting portion, and when the unmanned aerial vehicle is in a folded state, The mounting portion abuts against the machine arm.
  24. 根据权利要求1所述的无人机,其特征在于,所述无人机包括连接在所述机身底部的脚架。The drone according to claim 1, wherein the drone includes a tripod connected to the bottom of the fuselage.
  25. 根据权利要求24所述的无人机,其特征在于,所述脚架是能够折叠的,在所述无人机处于折叠状态时,所述脚架收拢于所述机身的周向侧面。The UAV according to claim 24, wherein the tripod is foldable, and when the UAV is in a folded state, the tripod is gathered around the circumferential side of the fuselage.
  26. 根据权利要求25所述的无人机,其特征在于,在所述无人机处于折叠状态时,所述机臂的至少一部分覆盖所述脚架的至少一部分。The drone according to claim 25, wherein when the drone is in a folded state, at least a part of the arm covers at least a part of the tripod.
  27. 根据权利要求1所述的无人机,其特征在于,所述机身的顶面开设有收容槽,所述无人机包括电池,所述电池至少部分地收容在所述收容槽。The unmanned aerial vehicle according to claim 1, wherein a receiving slot is opened on the top surface of the fuselage, the drone includes a battery, and the battery is at least partially accommodated in the receiving slot.
  28. 根据权利要求27所述的无人机,其特征在于,所述电池的重心在垂直方向上与所述无人机的升力中心重合。The UAV according to claim 27, wherein the center of gravity of the battery coincides with the center of lift of the UAV in the vertical direction.
  29. 根据权利要求27所述的无人机,其特征在于,所述电池是能够拆卸地收容在所述收容槽。The unmanned aerial vehicle according to claim 27, wherein the battery is detachably accommodated in the storage slot.
  30. 根据权利要求29所述的无人机,其特征在于,所述电池的拆卸方向或安装方向沿所述机身长度方向。The unmanned aerial vehicle according to claim 29, characterized in that, the disassembly direction or installation direction of the battery is along the length direction of the fuselage.
PCT/CN2021/101294 2021-06-21 2021-06-21 Unmanned aerial vehicle WO2022266807A1 (en)

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